api_handler.py 文件源码

def main():
    rospy.init_node("api_handler")
    loginfo("Creating api handler...")
    notify_publisher = rospy.Publisher("/aide/update_apis", String, queue_size=50)

    api = ApiHandler(lambda x: notify_publisher.publish(x))
    loginfo("Registering services...")

    get_service_handler(GetApi).register_service(lambda **args: api.get_api(**args) or ())
    get_service_handler(GetAllApis).register_service(api.get_all_apis)
    get_service_handler(AddApi).register_service(api.add_api)
    get_service_handler(DeleteApi).register_service(api.remove_api)

    loginfo("Registered services. Spinning.")

    rospy.spin()